Paparazzi UAS  v5.15_devel-88-gb3ad7fe
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size_divergence.h File Reference

Calculate divergence from flow vectors by looking at line sizes beteween the points. More...

#include "lib/vision/image.h"
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Functions

float get_size_divergence (struct flow_t *vectors, int count, int n_samples)
 Get divergence from optical flow vectors based on line sizes between corners. More...
 
float get_mean (float *numbers, int n_elements)
 

Detailed Description

Calculate divergence from flow vectors by looking at line sizes beteween the points.

Uses optical flow vectors as determined with a corner tracker and Lucas Kanade to estimate divergence.

Definition in file size_divergence.h.

Function Documentation

float get_mean ( float *  numbers,
int  n_elements 
)
float get_size_divergence ( struct flow_t vectors,
int  count,
int  n_samples 
)

Get divergence from optical flow vectors based on line sizes between corners.

Parameters
[in]vectorsThe optical flow vectors
[in]countThe number of optical flow vectors
[in]n_samplesThe number of line segments that will be taken into account. 0 means all line segments will be considered.
Returns
divergence

Definition at line 42 of file size_divergence.c.

References point_t::count, E, flow_t::flow_x, flow_t::flow_y, n_samples, flow_t::pos, point_t::x, and point_t::y.

Referenced by calc_fast9_lukas_kanade().

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